MGrblAxis.hpp

/*
** Copyright (C) 2025 CERN
**
** This software is provided 'as-is', without any express or implied
** warranty.  In no event will the authors be held liable for any damages
** arising from the use of this software.
**
** Permission is granted to anyone to use this software for any purpose,
** including commercial applications, and to alter it and redistribute it
** freely, subject to the following restrictions:
**
** 1. The origin of this software must not be misrepresented; you must not
**    claim that you wrote the original software. If you use this software
**    in a product, an acknowledgment in the product documentation would be
**    appreciated but is not required.
** 2. Altered source versions must be plainly marked as such, and must not be
**    misrepresented as being the original software.
** 3. This notice may not be removed or altered from any source distribution.
**
** Created on: 2025-04-17T11:28:13
** Author: Sylvain Fargier <sylvain.fargier@cern.ch>
*/
 
#ifndef MGRBLAXIS_HPP__
#define MGRBLAXIS_HPP__
 
#include <memory>
 
#include "platform/specialized/GrblPlatform/GrblAxis.hpp"
 
namespace smc {
namespace internal {
 
class MGrblPlatform;
 
class MGrblAxis : public GrblAxis
{
public:
    typedef std::shared_ptr<MGrblAxis> Shared;
 
    MGrblAxis(const std::string &uid,
              const std::shared_ptr<MGrblPlatform> &mgrbl,
              const std::shared_ptr<GrblPlatform> &grbl);
 
    std::future<void> moveTo(const units::Value &position) const override;
 
    std::future<void> moveBy(const units::Value &distance) const override;
 
    std::future<void> stop() const override;
 
    std::future<void> pause() const override;
 
    std::future<void> resume() const override;
 
    std::future<units::value_t> getPosition(units::unit_t unit) const override;
 
    units::value_t lastPosition(units::unit_t unit) const override;
 
    std::future<void> setActualPosition(
        const units::Value &position) const override;
 
    std::future<void> takeReference(
        const std::chrono::milliseconds &timeout = std::chrono::seconds{
            120}) const override;
 
    std::future<State> getState() const override;
 
    std::future<std::set<std::string>> listConfig() const override;
 
    std::future<std::string> getConfig(const std::string &name) const override;
 
    std::future<void> setConfig(const std::string &name,
                                const std::string &value) const override;
 
    bool canConvert(const units::Value &value,
                    units::unit_t unit) const override;
 
    bool convert(units::Value &value, units::unit_t unit) const override;
 
protected:
    friend class MGrblPlatform;
 
    void updateInstance() const;
 
    std::weak_ptr<MGrblPlatform> m_mgrbl;
};
 
} // namespace internal
 
} // namespace smc
 
#endif